Tracking Control of Nonholonomic Mobile Robots Based-on Dynamics Model

Abstract

To solve the problem of path tracking for nonholonomic mobile robots with two drivable wheels,a new simple controller was designed based on the dynamic and kinematic models of mobile robot.Also the neural network was used to deal with unmodeled disturbances,and the stability of the controller was shown through the Lyapunov function.Finally,the effectiveness of the controller is demonstrated by simulation results.